1use std::collections::VecDeque;
4
5use crate::connectable::{UdpConnectable, UdpMode};
6use crate::connection::MavConnection;
7use crate::peek_reader::PeekReader;
8use crate::{MavHeader, MavlinkVersion, Message, ReadVersion};
9use core::ops::DerefMut;
10use std::io::{self, Read};
11use std::net::{SocketAddr, UdpSocket};
12use std::sync::Mutex;
13
14use super::{get_socket_addr, Connectable};
15
16#[cfg(not(feature = "signing"))]
17use crate::{read_versioned_msg, write_versioned_msg};
18
19#[cfg(feature = "signing")]
20use crate::{read_versioned_msg_signed, write_versioned_msg_signed, SigningConfig, SigningData};
21
22struct UdpRead {
23 socket: UdpSocket,
24 buffer: VecDeque<u8>,
25 last_recv_address: Option<SocketAddr>,
26}
27
28const MTU_SIZE: usize = 1500;
29impl Read for UdpRead {
30 fn read(&mut self, buf: &mut [u8]) -> io::Result<usize> {
31 if !self.buffer.is_empty() {
32 self.buffer.read(buf)
33 } else {
34 let mut read_buffer = [0u8; MTU_SIZE];
35 let (n_buffer, address) = self.socket.recv_from(&mut read_buffer)?;
36 let n = (&read_buffer[0..n_buffer]).read(buf)?;
37 self.buffer.extend(&read_buffer[n..n_buffer]);
38
39 self.last_recv_address = Some(address);
40 Ok(n)
41 }
42 }
43}
44
45struct UdpWrite {
46 socket: UdpSocket,
47 dest: Option<SocketAddr>,
48 sequence: u8,
49}
50
51pub struct UdpConnection {
52 reader: Mutex<PeekReader<UdpRead>>,
53 writer: Mutex<UdpWrite>,
54 protocol_version: MavlinkVersion,
55 recv_any_version: bool,
56 server: bool,
57 #[cfg(feature = "signing")]
58 signing_data: Option<SigningData>,
59}
60
61impl UdpConnection {
62 fn new(socket: UdpSocket, server: bool, dest: Option<SocketAddr>) -> io::Result<Self> {
63 Ok(Self {
64 server,
65 reader: Mutex::new(PeekReader::new(UdpRead {
66 socket: socket.try_clone()?,
67 buffer: VecDeque::new(),
68 last_recv_address: None,
69 })),
70 writer: Mutex::new(UdpWrite {
71 socket,
72 dest,
73 sequence: 0,
74 }),
75 protocol_version: MavlinkVersion::V2,
76 recv_any_version: false,
77 #[cfg(feature = "signing")]
78 signing_data: None,
79 })
80 }
81}
82
83impl<M: Message> MavConnection<M> for UdpConnection {
84 fn recv(&self) -> Result<(MavHeader, M), crate::error::MessageReadError> {
85 let mut reader = self.reader.lock().unwrap();
86
87 loop {
88 let version = ReadVersion::from_conn_cfg::<_, M>(self);
89 #[cfg(not(feature = "signing"))]
90 let result = read_versioned_msg(reader.deref_mut(), version);
91 #[cfg(feature = "signing")]
92 let result =
93 read_versioned_msg_signed(reader.deref_mut(), version, self.signing_data.as_ref());
94 if self.server {
95 if let addr @ Some(_) = reader.reader_ref().last_recv_address {
96 self.writer.lock().unwrap().dest = addr;
97 }
98 }
99 if let ok @ Ok(..) = result {
100 return ok;
101 }
102 }
103 }
104
105 fn send(&self, header: &MavHeader, data: &M) -> Result<usize, crate::error::MessageWriteError> {
106 let mut guard = self.writer.lock().unwrap();
107 let state = &mut *guard;
108
109 let header = MavHeader {
110 sequence: state.sequence,
111 system_id: header.system_id,
112 component_id: header.component_id,
113 };
114
115 state.sequence = state.sequence.wrapping_add(1);
116
117 let len = if let Some(addr) = state.dest {
118 let mut buf = Vec::new();
119 #[cfg(not(feature = "signing"))]
120 write_versioned_msg(&mut buf, self.protocol_version, header, data)?;
121 #[cfg(feature = "signing")]
122 write_versioned_msg_signed(
123 &mut buf,
124 self.protocol_version,
125 header,
126 data,
127 self.signing_data.as_ref(),
128 )?;
129 state.socket.send_to(&buf, addr)?
130 } else {
131 0
132 };
133
134 Ok(len)
135 }
136
137 fn set_protocol_version(&mut self, version: MavlinkVersion) {
138 self.protocol_version = version;
139 }
140
141 fn protocol_version(&self) -> MavlinkVersion {
142 self.protocol_version
143 }
144
145 fn set_allow_recv_any_version(&mut self, allow: bool) {
146 self.recv_any_version = allow
147 }
148
149 fn allow_recv_any_version(&self) -> bool {
150 self.recv_any_version
151 }
152
153 #[cfg(feature = "signing")]
154 fn setup_signing(&mut self, signing_data: Option<SigningConfig>) {
155 self.signing_data = signing_data.map(SigningData::from_config)
156 }
157}
158
159impl Connectable for UdpConnectable {
160 fn connect<M: Message>(&self) -> io::Result<Box<dyn MavConnection<M> + Sync + Send>> {
161 let (addr, server, dest): (&str, _, _) = match self.mode {
162 UdpMode::Udpin => (&self.address, true, None),
163 _ => ("0.0.0.0:0", false, Some(get_socket_addr(&self.address)?)),
164 };
165 let socket = UdpSocket::bind(addr)?;
166 if matches!(self.mode, UdpMode::Udpcast) {
167 socket.set_broadcast(true)?;
168 }
169 Ok(Box::new(UdpConnection::new(socket, server, dest)?))
170 }
171}
172
173#[cfg(test)]
174mod tests {
175 use super::*;
176
177 #[test]
178 fn test_datagram_buffering() {
179 let receiver_socket = UdpSocket::bind("127.0.0.1:5000").unwrap();
180 let mut udp_reader = UdpRead {
181 socket: receiver_socket.try_clone().unwrap(),
182 buffer: VecDeque::new(),
183 last_recv_address: None,
184 };
185 let sender_socket = UdpSocket::bind("0.0.0.0:0").unwrap();
186 sender_socket.connect("127.0.0.1:5000").unwrap();
187
188 let datagram: Vec<u8> = (0..50).collect::<Vec<_>>();
189
190 let mut n_sent = sender_socket.send(&datagram).unwrap();
191 assert_eq!(n_sent, datagram.len());
192 n_sent = sender_socket.send(&datagram).unwrap();
193 assert_eq!(n_sent, datagram.len());
194
195 let mut buf = [0u8; 30];
196
197 let mut n_read = udp_reader.read(&mut buf).unwrap();
198 assert_eq!(n_read, 30);
199 assert_eq!(&buf[0..n_read], (0..30).collect::<Vec<_>>().as_slice());
200
201 n_read = udp_reader.read(&mut buf).unwrap();
202 assert_eq!(n_read, 20);
203 assert_eq!(&buf[0..n_read], (30..50).collect::<Vec<_>>().as_slice());
204
205 n_read = udp_reader.read(&mut buf).unwrap();
206 assert_eq!(n_read, 30);
207 assert_eq!(&buf[0..n_read], (0..30).collect::<Vec<_>>().as_slice());
208
209 n_read = udp_reader.read(&mut buf).unwrap();
210 assert_eq!(n_read, 20);
211 assert_eq!(&buf[0..n_read], (30..50).collect::<Vec<_>>().as_slice());
212 }
213}